Highlights in Science, Engineering and Technology MEIMIE 2023

Volume 71 (2023)

Analysis And Optimization of Automotive Systems Based on

PID Control
Yumou Wei *
Department of Automation, Central South University, Changsha, 410000, China
* Corresponding Author Email: [email protected]
Abstract. The development of modern technology has made automation an important part of life.
Proportion Integral Derivative (PID) control is a basic control theory of automation which has many
applications because of its simple construction and great performance. This article introduces the
application of PID control technology in the automotive field. This paper mainly introduces the
following aspects: the basic principles and theories of PID control, the challenges of automotive
systems and their control, some solutions for PID control in automotive systems, and the
improvement and optimization of control. The limitation of the application of traditional control theory
in new automotive control have led to the emergence of more optimization algorithms, which can
improve the system in more ways. In the future, automotive control systems will continue to be based
on PID control as the framework and combined with some optimized new algorithms for practical
application. Therefore, understanding PID control is of great significance to clarify the future
development of automotive control technology.
Keywords: PID control, automation, optimization algorithm.

1. Introduction
With the continuous development of automation technology, Proportion Integral Derivative (PID)
control has become a basic element in life, and it has many applications. As a basic technology, its
principle and application field are worth knowing. For example, in the field of automotive control,
there are many PID control technologies. With the continuous improvement of modern living
standards, people's requirements for automobile performance are also more stringent. Traditional PID
control does not seem to meet people's needs, and some problems are beginning to come to light. This
also provides a good basis for the optimization of the system.
This essay discusses the basic principles of PID control, the challenges of PID in automotive
systems, the solutions of PID control in automotive systems, and the improvement and optimization
of PID control, and combines some literature to explain personal insights on the application of PID
control in the automotive field and speculates on its future development. The article has a simple
overview of the application of PID control technology in the automotive field and provides some
references for the development of automation technology in the future.

2. Theoretical analysis of PID Control

2.1. Introduction to PID Control
PID control is a fundamental control algorithm, which is widely used in automatic control
technology, including temperature control, speed control of motors, level control in tanks, robotics,
and many other automated systems [1]. It is a feedback control that adjusts a system’s output based
on the error between the set point and the actual measured value. By adjusting the gains of the PID
controller, engineers can achieve the desired system response such as appropriate setting time and
stability [2]. PID controller is combined with three components: proportional term(P), integral term(I),
and derivative term(D). The structure of PID control system is shown in figure 1.

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Volume 71 (2023)

Fig. 1 PID control system

2.2. Proportional, Integral, and Derivative Actions
Proportional (P) term: The proportional term produces an output proportional to the current error.
It helps in reducing the steady-state error by applying a gain factor to the error signal. The proportional
link formula is shown in Equation (1).
𝑢(𝑡) = 𝐾𝑝𝑒(𝑡) (1)
Integral (I) term: The integral term takes into account the accumulated past errors and applies a
gain factor to correct for any residual steady-state error. It helps in reducing the offset between the
desired set point and the system's response. The integral link formula is shown in Equation (2).
𝑡
𝑢(𝑡) = 𝐾𝑖 ∫0 𝑒(𝑡)𝑑𝑡 (2)
Derivative (D) term: The derivative term predicts the future trend of the error by calculating the
rate of change of the error signal. It helps in damping the system's response and improving its stability.
The differential link formula is shown in Equation (3).
𝑑𝑒(𝑡)
𝑢(𝑡) = 𝐾𝑑 (3)
𝑑𝑡

These three components can be combined with each other to form a new controller such as PI
controller and PD controller to make the system desired.
2.3. PID Controller Design and Tuning Methods
To design a PID controllers, it is important to set proper value of Kp, Ki, and Kd to get better
dynamic and static characteristics for the system. Kp value will result in the response but may
introduce overshoot or instability. Ki can reduce steady-state error, allowing the system to reach the
desired set point accurately. Be cautious, as a high Kt value may lead to slow response or instability.
Kd helps dampen the response and minimize rapid changes in the system's output. Adjust Kd carefully
to avoid amplifying noise or introducing excessive oscillations. Operational amplifiers are often used
to construct these circuits for designing controllers. Most work can be done with simulation software.
There is a useful software named falstad can be used to do the simulation. It is a web page which can
used conveniently for simulating. An example is shown in figure 2.

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Volume 71 (2023)

Fig. 2 PID Controller Design

3. Automotive Systems and Control Challenges

3.1. Overview of Automotive Systems
Automotive systems refer to the various subsystems and components integrated into automobiles
to ensure their proper functioning, performance, and safety. These systems work together to control
different aspects of the vehicle's operation, including propulsion, steering, braking, comfort, and
safety features. Some common automotive systems include:
Power System: This system includes the engine, transmission, and related components that
generate and transmit power to propel the vehicle.
Chassis System: The chassis system encompasses the frame, suspension, steering, and wheels,
which provide structural support, stability, and control over the vehicle's movement.
Electrical and Electronics System: This system comprises the vehicle's electrical architecture,
including the battery, wiring, sensors, control units, and communication networks. It controls various
functions such as lighting, climate control, entertainment, and advanced driver-assistance systems
(ADAS) [3].
Braking System: The braking system is responsible for slowing down or stopping the vehicle. It
includes components like brake pads, rotors, calipers, hydraulic systems, and electronic control
systems like anti-lock braking systems (ABS) and electronic stability control (ESC).
Safety Systems: These systems are designed to enhance occupant safety and prevent accidents.
Examples include airbags, seat belts, pre-crash sensing systems, adaptive cruise control, lane
departure warning, and collision avoidance systems.
Fuel and Exhaust Systems: These systems handle fuel storage, delivery, and combustion, as well
as the removal of exhaust gases. They include components like fuel tanks, fuel injectors, exhaust
pipes, catalytic converters, and emission control systems.
HVAC System: The Heating, Ventilation, and Air Conditioning (HVAC) system controls the
temperature, airflow, and air quality within the vehicle's cabin, ensuring passenger comfort.
Infotainment System: The infotainment system provides multimedia, communication, and
connectivity features, including audio systems, touchscreen displays, navigation systems, Bluetooth
connectivity, and smartphone integration.
These are just a few examples of automotive systems, and modern vehicles incorporate a wide
range of technologies and subsystems to deliver enhanced performance, efficiency, comfort, and
safety [4].
3.2. Control Challenges in Automotive Systems
Modern automotive systems consist of numerous interconnected subsystems and components.
These systems have complex interactions and feedback loops, making the design and optimization of
control strategies more challenging. Besides, Automotive systems face various uncertainties and
changing conditions, resulting in the need for fast and accurate control [5].
3.2.1 Engine Control using PID.
Engine idle control has always been a difficult point, the traditional PID control system due to the
simple structure, it is difficult to play a precise control role, not easy to meet the modern people's
higher requirements for environmental protection and energy saving.
3.2.2 Vehicle Dynamics Control using PID.
Autonomous driving has emerged as a hot research field in recent years, but its full implementation
is still pending due to challenges in achieving dynamic equilibrium. Traditional PID algorithm is
widely used to control the movement of vehicles due to its simple structure. However, its dynamic
characteristics have many limitations. Significantly advancing autonomous driving technology

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requires upgrading and refining the PID algorithm to better regulate dynamic characteristics. Fuzzy
control can be used as a solution. Fuzzy controller and PID controller can form a fuzzy PID controller,
which takes the deviation of rate as input to obtain fuzzy variables. After parameter tuning, the
corrected parameters can be applied to the system. This method can acquire faster response time,
better dynamic characteristics.
3.2.3 Active Suspension Control using PID.
The suspension is a significant part of automobiles. It provides cushioning when vehicles pass
through uneven ground and ensures that the wheels move within a fixed angle, ensuring stable
steering to maintain good contact with the ground. However, traditional suspension is different to
control according to the real time situation of road surface, so there are more challenges.

4. PID Control Solutions in Automotive Systems

To solve these problems, some improved algorithms based on PID have been taken, which can
bring better dynamic performance or make the system respond faster and more accurately.
4.1. PID Control for Engine Management Systems
4.1.1 Idle Speed Control
Idling state is an important working condition of vehicle engine, which is closely related to the
emission and energy consumption of automobiles. To solve the long response time and excess of the
control during the adjustment process, PID control can be used to ensure the engine is working in
appropriate condition, it is necessary to adjust, and correct different load movements based on the
control demands of the electronic throttle to effectively meet the idle tracking control requirements.
In addition, with self-tuning scaling factor, we can get satisfactory control of idle speed [6].
4.1.2 Throttle Control
Throttle is a gate that controls the entry and exit of air into the engine. It is directly related to the
energy supply of automobiles. Optimizing the throttle can reduce energy use, thereby reducing
emissions and pollution. Due to the limitations of traditional integer order PID controllers, their
performance to some extent cannot meet the requirements. Optimization can be achieved through
improvements, using adaptive constrained control to further improve. He Youguo and other authors
mentions algorithm which provides possibilities for further development [7]. As a consequence, the
system has a fast and accurate response.
4.2. PID Control for Vehicle Stability Systems
The explanation for car stability refers to the ability of a vehicle to quickly restore its original
driving state and direction after external interference during driving, which is closely related to safety
of human beings.
ABS is a system used to prevent a car from locking up during braking. The phenomenon of lockup
refers to the phenomenon of wheel slip when a car brakes at high speeds, where the braking force of
the braking system is greater than the friction force of the road on the tires. To prevent the
phenomenon, ABS was invented. Adaptive fuzzy PID control is suitable for ABS due to its robustness
and control accuracy. This system can calculate and control the slip rate of the car, so that the vehicle
can smoothly decelerate to zero in the shortest possible time [8].
4.3. PID Control for Active Suspension Systems
Although the structure is simple, PID has many problems for the complex situation faced by
suspension control, as mentioned earlier. To this end, single neurons and neural networks can be
combined with traditional PID to make up for their shortcomings in the face of mutations in a simple
structure [9].

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Volume 71 (2023)

4.3.1 Vertical and Lateral Dynamics Control

The purpose of vertical and lateral dynamics control is keeping the car running on a planned
trajectory. The information is transmitted through sensors, and then some algorithms are upgraded,
such as the Linear–quadratic regulator based on "feedforward +feedback", to achieve optimal lateral
control [10]. In addition, a two-layer structure based on PI controller is used to ensure the accuracy
and robustness of longitudinal speed control. With the help of these, safe and intelligent driving can
be achieved.
4.3.2 Adaptive Damping Control
Air suspension is widely used in some vehicles, and its adjustable performance is good, which can
effectively improve the comfort performance of vehicles. The smoothness and handling stability of
the interconnected air suspension can be achieved by adaptively adjusting the damping coefficient of
the shock absorber to achieve a reasonable balance to improve the overall performance of the vehicle.

5. Performance Evaluation and Optimization

Due to the long history of the PID system, there are inevitably some defects that cannot meet
people's higher demand for control. Therefore, it is necessary to optimize and adjust it on this basis
to improve the system's performance.
5.1. Evaluation Metrics for PID Control in Automotive Systems
Due to the high real-time and safety requirements of automotive systems, many factors should be
considered during the control process. Firstly, the response rate of the system should be as fast as
possible, which requires appropriate Kp parameters. The second point is the accuracy and stability of
the response, minimizing overshoot within the allowable range. Thirdly, the system should have
robustness and can still function normally in the face of uncertain disturbances. Only by meeting
these requirements can automotive be made safe and reliable [11].
5.2. Performance Limitations and Trade-offs
Although PID controllers are versatile and effective in many applications, they do have certain
performance limitations and trade-offs. Firstly, PID controllers can introduce oscillations or
instability in the system if not properly tuned. The proportional gain (Kp) determines the system's
response speed, but high gains can lead to overshoot and oscillations. The derivative gain (Kd) can
reduce oscillations but can also amplify noise in the system. Achieving stability while maintaining
desired performance is a trade-off. Secondly, Responsiveness and Settling Time: PID controllers aim
to minimize the error between the setpoint and the actual value. Higher gains can lead to faster
response times, reducing settling time. However, this may increase overshoot or cause oscillations.
Balancing the speed of response with overshoot is a trade-off, and system requirements and
characteristics should be considered. Thirdly, Integrator Windup: Integrator windup can occur when
the integral action accumulates a large error due to saturation or limitations in actuator output. This
can cause overshoot and slow response when the saturation is removed. Anti-windup techniques, such
as output saturation or derivative kick prevention, can help mitigate this issue.
5.3. Optimization Techniques for PID Tuning
PID controllers are widely used in control systems to regulate and stabilize processes. Proper
tuning of PID parameters is crucial to achieve optimal control performance. Several optimization
techniques can be employed to determine the optimal values for the PID controller parameters. Here
are some commonly used optimization techniques for PID tuning:
Model-Based Optimization, Genetic Algorithms and Particle Swarm Optimization, Ziegler-
Nichols Method, manual Tuning, gradient-Based Optimization,

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Frequency Response Methods, and simulation and Iterative Methods. It is worth mentioning that
the choice of optimization technique depends on factors such as the complexity of the system,
availability of mathematical models, computational resources, and the desired control performance.
Often, a combination of these techniques is used to fine-tune PID parameters and achieve the best
control performance for a specific system.
5.3.1 Model-based Optimization
This technique involves utilizing a mathematical model of the system to optimize the PID
parameters. The model can be derived from first principles or identified from system data. Various
optimization algorithms, such as model predictive control (MPC) or genetic algorithms, can be used
to search for optimal PID parameters that minimize an objective function, such as tracking error,
control effort, or other performance criteria [12].
5.3.2Genetic Algorithms
Genetic algorithm is a method of simulating the evolution of organisms in nature, using computers
to simulate mutations and cross these biological phenomena, in order to obtain better individuals and
meet their needs. The first step is to encode, such as using binary. Assuming the range of parameters
is from u1 to u2, with a binary length of k, the representation method for each individual I is shown
in Equation (4) and (5).
𝑈2−𝑈1
𝑚=
2𝑘 −1
(4)
𝐼 = 𝑈1 + 𝑛 ∗ 𝑚 (5)
The second step is to set the parameters, the maximum evolution algebra. As for group size, cross
probability, probability of variation, etc. The third step is to determine the fitness of individuals in
the population, and then obtain the most suitable results through genetic manipulation. Genetic
algorithm is a series of search algorithms inspired by natural evolution theory. By imitating the
process of Natural selection and reproduction, genetic algorithms can provide high-quality solutions
to various problems involving search, optimization and learning. At the same time, they are similar
to natural evolution, so they can overcome some of the obstacles encountered by traditional search
and optimization algorithms, especially for problems with a large number of parameters and complex
mathematical representations.

6. Conclusion
PID control technology, as part of classical control theory, can still play an important role in
automotive control systems. Although there are some defects in engine control, dynamic control, etc.,
PID can still be used as the core solution by introducing fuzzy algorithms and other algorithms to
improve optimization.
In future automotive systems, PID technology will still play an important role. PID control is a
classic feedback control algorithm that can be used to adjust various parameters in automotive
systems to achieve stable and precise control. The role of PID technology in future automotive
systems includes, but is not limited to, engine control, braking system, suspension, stability control.
As far as I am concerned, intelligent driving is undoubtedly the most important research direction,
perhaps with the continuous upgrading and improvement of PID technology, this technology will
soon be put into use.
In conclusion, PID technology will continue to play an important role in future automotive systems,
improving vehicle performance, safety and comfort through precise parameter regulation and control.
With the development of autonomous driving and electric vehicle technology, PID control will also
be combined with other advanced control algorithms to jointly drive the progress of the automotive
industry.

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